How to build a sinusoidal trajectory

Hatem

Dear friends,

I hope I can get solution for this issue with you

I want the robot to perform a sinusoidal trajectory where
the series of points positions and velocities (and accelerations if possible )are
defined by the following equations with sampling time (t) for a particular
period of time (T):

Oc(t)= sin(2I_t/T)

velocity(t)=(2*pi/T)cos(2*pi*t/T)

acceleration(t) = - (4 pi^2/T^2) sin (2*pi*t/T)

I understand that the robot movements for its end-effector
or joints is performed through motion commands such as MoveL, MoveJ, etc. So
how to convert the given trajectory into a set of robot motion commands so that
the trajectory is smooth with time.

Would you kindly help me to know how to get this done.

Thanking you in advance.